void Raytracer::displayCallback() { updateCamera(); for (int i=0;i<numObjects;i++) { transforms[i].setIdentity(); SimdVector3 pos(-3.5f+i*2.5f,0.f,0.f); transforms[i].setOrigin( pos ); SimdQuaternion orn; if (i < 2) { orn.setEuler(yaw,pitch,roll); transforms[i].setRotation(orn); } } myMink.SetTransformA(SimdTransform(transforms[0].getRotation())); glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glDisable(GL_LIGHTING); if (once) { glGenTextures(1, &glTextureId); glBindTexture(GL_TEXTURE_2D,glTextureId ); once = 0; glPixelStorei(GL_UNPACK_ALIGNMENT, 1); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); } glDisable(GL_TEXTURE_2D); glDisable(GL_BLEND); #define RAYTRACER #ifdef RAYTRACER SimdVector4 rgba(1.f,0.f,0.f,0.5f); float top = 1.f; float bottom = -1.f; float nearPlane = 1.f; float tanFov = (top-bottom)*0.5f / nearPlane; float fov = 2.0 * atanf (tanFov); SimdVector3 rayFrom = getCameraPosition(); SimdVector3 rayForward = getCameraTargetPosition()-getCameraPosition(); rayForward.normalize(); float farPlane = 600.f; rayForward*= farPlane; SimdVector3 rightOffset; SimdVector3 vertical(0.f,1.f,0.f); SimdVector3 hor; hor = rayForward.cross(vertical); hor.normalize(); vertical = hor.cross(rayForward); vertical.normalize(); float tanfov = tanf(0.5f*fov); hor *= 2.f * farPlane * tanfov; vertical *= 2.f * farPlane * tanfov; SimdVector3 rayToCenter = rayFrom + rayForward; SimdVector3 dHor = hor * 1.f/float(screenWidth); SimdVector3 dVert = vertical * 1.f/float(screenHeight); SimdTransform rayFromTrans; rayFromTrans.setIdentity(); rayFromTrans.setOrigin(rayFrom); SimdTransform rayFromLocal; SimdTransform rayToLocal; SphereShape pointShape(0.0f); ///clear texture for (int x=0;x<screenWidth;x++) { for (int y=0;y<screenHeight;y++) { SimdVector4 rgba(0.f,0.f,0.f,0.f); raytracePicture->SetPixel(x,y,rgba); } } ConvexCast::CastResult rayResult; SimdTransform rayToTrans; rayToTrans.setIdentity(); SimdVector3 rayTo; for (int x=0;x<screenWidth;x++) { for (int y=0;y<screenHeight;y++) { rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical; rayTo += x * dHor; rayTo -= y * dVert; rayToTrans.setOrigin(rayTo); for (int s=0;s<numObjects;s++) { // rayFromLocal = transforms[s].inverse()* rayFromTrans; // rayToLocal = transforms[s].inverse()* rayToTrans; //choose the continuous collision detection method SubsimplexConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver); //GjkConvexCast convexCaster(&pointShape,shapePtr[0],&simplexSolver); //ContinuousConvexCollision convexCaster(&pointShape,shapePtr[0],&simplexSolver,0); // BU_Simplex1to4 ptShape(SimdVector3(0,0,0));//algebraic needs features, doesnt use 'supporting vertex' // BU_CollisionPair convexCaster(&ptShape,shapePtr[0]); //reset previous result rayResult.m_fraction = 1.f; if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,transforms[s],transforms[s],rayResult)) { //float fog = 1.f - 0.1f * rayResult.m_fraction; rayResult.m_normal.normalize(); SimdVector3 worldNormal; worldNormal = transforms[s].getBasis() *rayResult.m_normal; float light = worldNormal.dot(SimdVector3(0.4f,-1.f,-0.4f)); if (light < 0.2f) light = 0.2f; if (light > 1.f) light = 1.f; rgba = SimdVector4(light,light,light,1.f); raytracePicture->SetPixel(x,y,rgba); } else { //clear is already done //rgba = SimdVector4(0.f,0.f,0.f,0.f); //raytracePicture->SetPixel(x,y,rgba); } } } } #define TEST_PRINTF #ifdef TEST_PRINTF extern BMF_FontData BMF_font_helv10; raytracePicture->Printf("CCD RAYTRACER",&BMF_font_helv10); char buffer[256]; sprintf(buffer,"%d RAYS / Frame",screenWidth*screenHeight*numObjects); raytracePicture->Printf(buffer,&BMF_font_helv10,0,10); #endif //TEST_PRINTF glMatrixMode(GL_PROJECTION); glPushMatrix(); glLoadIdentity(); glFrustum(-1.0,1.0,-1.0,1.0,3,2020.0); glMatrixMode(GL_MODELVIEW); glPushMatrix(); glLoadIdentity(); // Reset The Modelview Matrix glTranslatef(0.0f,0.0f,-3.0f); // Move Into The Screen 5 Units glEnable(GL_TEXTURE_2D); glBindTexture(GL_TEXTURE_2D,glTextureId ); const unsigned char *ptr = raytracePicture->GetBuffer(); glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, raytracePicture->GetWidth(),raytracePicture->GetHeight(), 0, GL_RGBA, GL_UNSIGNED_BYTE, ptr); glEnable (GL_BLEND); glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); glColor4f (1,1,1,1); // alpha=0.5=half visible glBegin(GL_QUADS); glTexCoord2f(0.0f, 0.0f); glVertex2f(-1,1); glTexCoord2f(1.0f, 0.0f); glVertex2f(1,1); glTexCoord2f(1.0f, 1.0f); glVertex2f(1,-1); glTexCoord2f(0.0f, 1.0f); glVertex2f(-1,-1); glEnd(); glMatrixMode(GL_MODELVIEW); glPopMatrix(); glMatrixMode(GL_PROJECTION); glPopMatrix(); glMatrixMode(GL_MODELVIEW); #endif //RAYRACER glDisable(GL_TEXTURE_2D); glDisable(GL_DEPTH_TEST); GL_ShapeDrawer::DrawCoordSystem(); glPushMatrix(); /* /// normal opengl rendering float m[16]; int i; for (i=0;i<numObjects;i++) { transA.getOpenGLMatrix( m ); /// draw the simplex GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1)); /// calculate closest point from simplex to the origin, and draw this vector simplex.CalcClosest(m); } */ glPopMatrix(); pitch += 0.005f; yaw += 0.01f; glFlush(); glutSwapBuffers(); }
void clientDisplay(void) { glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glDisable(GL_LIGHTING); //GL_ShapeDrawer::DrawCoordSystem(); float m[16]; int i; GjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,0); SimdVector3 seperatingAxis(0.00000000f,0.059727669f,0.29259586f); convexConvex.SetCachedSeperatingAxis(seperatingAxis); PointCollector gjkOutput; GjkPairDetector::ClosestPointInput input; input.m_transformA = tr[0]; input.m_transformB = tr[1]; convexConvex.GetClosestPoints(input ,gjkOutput,0); if (gjkOutput.m_hasResult) { SimdVector3 endPt = gjkOutput.m_pointInWorld + gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance; glBegin(GL_LINES); glColor3f(1, 0, 0); glVertex3d(gjkOutput.m_pointInWorld.x(), gjkOutput.m_pointInWorld.y(),gjkOutput.m_pointInWorld.z()); glVertex3d(endPt.x(),endPt.y(),endPt.z()); //glVertex3d(gjkOutputm_pointInWorld.x(), gjkOutputm_pointInWorld.y(),gjkOutputm_pointInWorld.z()); //glVertex3d(gjkOutputm_pointInWorld.x(), gjkOutputm_pointInWorld.y(),gjkOutputm_pointInWorld.z()); glEnd(); } for (i=0; i<numObjects; i++) { tr[i].getOpenGLMatrix( m ); GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1),getDebugMode()); } simplex.SetSimplexSolver(&sGjkSimplexSolver); SimdPoint3 ybuf[4],pbuf[4],qbuf[4]; int numpoints = sGjkSimplexSolver.getSimplex(pbuf,qbuf,ybuf); simplex.Reset(); for (i=0; i<numpoints; i++) simplex.AddVertex(ybuf[i]); SimdTransform ident; ident.setIdentity(); ident.getOpenGLMatrix(m); GL_ShapeDrawer::DrawOpenGL(m,&simplex,SimdVector3(1,1,1),getDebugMode()); SimdQuaternion orn; orn.setEuler(yaw,pitch,roll); tr[0].setRotation(orn); // pitch += 0.005f; // yaw += 0.01f; glFlush(); glutSwapBuffers(); }
void LinearConvexCastDemo::displayCallback(void) { updateCamera(); glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glDisable(GL_LIGHTING); //GL_ShapeDrawer::DrawCoordSystem(); float m[16]; int i; for (i=0;i<numObjects;i++) { tr[i].getOpenGLMatrix( m ); GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1),getDebugMode()); } int shapeIndex = 1; SimdQuaternion orn; orn.setEuler(yaw,pitch,roll); tr[shapeIndex].setRotation(orn); if (m_stepping || m_singleStep) { m_singleStep = false; pitch += 0.005f; yaw += 0.01f; } SimdVector3 fromA(-25,11,0); SimdVector3 toA(15,11,0); SimdQuaternion ornFromA(0.f,0.f,0.f,1.f); SimdQuaternion ornToA(0.f,0.f,0.f,1.f); SimdTransform rayFromWorld(ornFromA,fromA); SimdTransform rayToWorld(ornToA,toA); tr[0] = rayFromWorld; if (drawLine) { glBegin(GL_LINES); glColor3f(0, 0, 1); glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z()); glVertex3d(rayToWorld.getOrigin().x(),rayToWorld.getOrigin().y(),rayToWorld.getOrigin().z()); glEnd(); } //now perform a raycast on the shapes, in local (shape) space //choose one of the following lines for (i=1;i<numObjects;i++) { ContinuousConvexCollision convexCaster0(shapePtr[0],shapePtr[i],&gGjkSimplexSolver,0); GjkConvexCast convexCaster1(shapePtr[0],shapePtr[i],&gGjkSimplexSolver); //BU_CollisionPair (algebraic version) is currently broken, will look into this //BU_CollisionPair convexCaster2(shapePtr[0],shapePtr[i]); SubsimplexConvexCast convexCaster3(shapePtr[0],shapePtr[i],&gGjkSimplexSolver); gGjkSimplexSolver.reset(); ConvexCast::CastResult rayResult; if (convexCaster3.calcTimeOfImpact(rayFromWorld,rayToWorld,tr[i],tr[i],rayResult)) { glDisable(GL_DEPTH_TEST); SimdVector3 hitPoint; hitPoint.setInterpolate3(rayFromWorld.getOrigin(),rayToWorld.getOrigin(),rayResult.m_fraction); //draw the raycast result glBegin(GL_LINES); glColor3f(1, 1, 1); glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z()); glVertex3d(hitPoint.x(),hitPoint.y(),hitPoint.z()); glEnd(); glEnable(GL_DEPTH_TEST); SimdTransform toTransWorld; toTransWorld = tr[0]; toTransWorld.setOrigin(hitPoint); toTransWorld.getOpenGLMatrix( m ); GL_ShapeDrawer::DrawOpenGL(m,shapePtr[0],SimdVector3(0,1,1),getDebugMode()); } } glFlush(); glutSwapBuffers(); }
void clientDisplay(void) { glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glDisable(GL_LIGHTING); if (collisionWorld) collisionWorld->PerformDiscreteCollisionDetection(); ///one way to draw all the contact points is iterating over contact manifolds / points: int i; int numManifolds = collisionWorld->GetDispatcher()->GetNumManifolds(); for (i=0;i<numManifolds;i++) { PersistentManifold* contactManifold = collisionWorld->GetDispatcher()->GetManifoldByIndexInternal(i); CollisionObject* obA = static_cast<CollisionObject*>(contactManifold->GetBody0()); CollisionObject* obB = static_cast<CollisionObject*>(contactManifold->GetBody1()); contactManifold->RefreshContactPoints(obA->m_worldTransform,obB->m_worldTransform); int numContacts = contactManifold->GetNumContacts(); for (int j=0;j<numContacts;j++) { ManifoldPoint& pt = contactManifold->GetContactPoint(j); glBegin(GL_LINES); glColor3f(1, 0, 1); SimdVector3 ptA = pt.GetPositionWorldOnA(); SimdVector3 ptB = pt.GetPositionWorldOnB(); glVertex3d(ptA.x(),ptA.y(),ptA.z()); glVertex3d(ptB.x(),ptB.y(),ptB.z()); glEnd(); } } //GL_ShapeDrawer::DrawCoordSystem(); float m[16]; for (i=0;i<numObjects;i++) { objects[i].m_worldTransform.getOpenGLMatrix( m ); GL_ShapeDrawer::DrawOpenGL(m,objects[i].m_collisionShape,SimdVector3(1,1,1),getDebugMode()); } SimdQuaternion orn; orn.setEuler(yaw,pitch,roll); objects[1].m_worldTransform.setOrigin(objects[1].m_worldTransform.getOrigin()+SimdVector3(0,-0.01,0)); //objects[0].m_worldTransform.setRotation(orn); pitch += 0.005f; yaw += 0.01f; glFlush(); glutSwapBuffers(); }